Learning control of motion and force for constrained manipulators

• Main Author: Cheah, Chien Chern
• Other Authors: Soh, Yeng Chai
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
• Online Access: http://hdl.handle.net/10356/19779
• Institution: Nanyang Technological University

It is usually adequate to control the motion of robotic manipulator for tasks such as spray painting, pick and place or spot welding, all of which the manipulator can move freely in the workspace. However, for more demanding tasks such as deburring, spot welding and assembly, constraints are imposed...